import time
import pyrealsense2 as rs#type: ignore
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)
cfg = pipeline.start(config)
time.sleep(1)
profile = cfg.get_stream(rs.stream.depth)
intr = profile.as_video_stream_profile().get_intrinsics()
print(intr) 
#[ 640x480  p[320.483 242.454]  f[383.232 383.232]  Brown Conrady [0 0 0 0 0] ]
